STABILISING THE CAMERA-TO-FIXATION POINT DISTANCE IN ACTIVE VISION

摘要

This paper proposes a method for the determination of the camera-to-fixation point (CFP) distance using active vision strategies. The proposed approach employs an advantage of fixation; namely that the problem becomes object centred. An accurate estimate of the CFP distance is necessary for (1) establishing correspondence between consecutive images and (2) tracking and predicting where the tracked features are in the subsequent images. The mathematical formulation as well as the strategies used for the correction of the CFP distance are discussed. The advantage associated with this strategy is that the correction of the CFP distance only requires the 2-D location of the feature points.